Galil DMC-3425 Command Summary Contour Mode, Operand Summary Contour Mode, Operand Description

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Additional Commands

The command, WC, is used as a trippoint "When Complete" or “Wait for Contour Data”. This allows the DMC-3425 to use the next increment only when it is finished with the previous one. Zero parameters for DT followed by zero parameters for CD exit the contour mode.

If no new data record is found and the controller is still in the contour mode, the controller waits for new data. No new motion commands are generated while waiting. If bad data is received, the controller responds with a ?.

Command Summary - Contour Mode

Command

CM AB

CD a,b

DT n

WC

Description

Specifies which axes for contouring mode. Any non-contouring axes may be operated in other modes.

Specifies position increment over time interval. Range is +/-32,000. Zero ends contour mode.

Specifies time interval 2n msec for position increment, where n is an integer between 1 and

8.Zero ends contour mode. If n does not change, it does not need to be specified with each CD.

Waits for previous time interval to be complete before next data record is processed.

Operand Summary - Contour Mode

Operand

_CS

Description

Return segment number

General Velocity Profiles

The Contour Mode is ideal for generating an arbitrary velocity profile. The velocity profile can be specified as a mathematical function or as a collection of points.

The design includes two parts: Generating an array with data points and running the program.

Generating an Array - An Example

Consider the velocity and position profiles shown in Fig. 6.6. The objective is to rotate a motor a distance of 6000 counts in 120 ms. The velocity profile is sinusoidal to reduce the jerk and the system vibration. If we describe the position displacement in terms of A counts in B milliseconds, we can describe the motion in the following manner:

ω= (A/B) [1 - cos (2πΤ/B)]

X= (AT/B) - (A/2π)sin (2πΤ/B)

Note: ω is the angular velocity; X is the position; and T is the variable, time, in milliseconds.

In the given example, A=6000 and B=120, the position and velocity profiles are:

X = 50T - (6000/2π) sin (2π T/120)

Note that the velocity, ω, in count/ms, is

DMC-3425

Chapter 6 Programming Motion• 91

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Contents By Galil Motion Control, Inc DMC-3425Page Contents Connecting Hardware Programming Motion Application Programming 107 ZOH DACWarranty J5 Power 6 PIN MolexIntroduction OverviewBrushless Servo Motor with Sinusoidal Commutation Standard Servo Motors with +/- 10 Volt Command SignalStepper Motor with Step and Direction Signals Overview of Motor TypesDMC-3425 Overview Communication DMC-3425 Functional ElementsMicrocomputer Section Motor InterfaceAmplifier Driver General I/OSystem Elements MotorEncoder Watch Dog TimerDMC-3425 Motion Controller Getting StartedElements You Need Installing the DMC-3425 ControllerConfiguring Jumpers on the DMC-3425 Determine Overall Motor Configuration9600 1200 Setting the Baud Rate on the DMC-3425Selecting MO as default on the DMC-3425 Stepper Motor JumpersA1 A2 A4 A8 Axis Configuration JumpersUsing Galil Software for DOS Installing the Communications SoftwareUsing Galil Software for Windows Getting Started DMC-3425 TPA CR Using Non-Galil Communication SoftwareSending Test Commands to the Terminal Communicating through the EthernetAddress Make connections to amplifier and encoder Set-up axis for sinusoidal commutation optionalGetting Started DMC-3425 Connect Standard Servo Motor MO CR Check the Polarity of the Feedback LoopTT CR Inverting the Loop PolaritySH CR BG CRPower Supply Connect brushless motor for sinusoidal commutation If Hall Sensors are Available If Hall Sensors are Not Available BC CR Connect Step MotorsBGA CR AmacrTE CR Tune the Servo SystemConfigure the Distributed Control System Configuring Operation for Distributed ControlAutomatic Configuration of Distributed Control Manual Slave IP configuration with HC command Instruction Interpretation Manual Configuration of Distributed Control#SETUP Mgconfiguration Failed Else Mgconfig Success EndifNA6 CHC=D,ECHE=F,G Example 3 Position Interrogation Design ExamplesExample 1 System Set-up Example 2 Profiled MoveExample 7 Interrogation Example 8 Operation in the Buffer ModeExample 5 Velocity Control Jogging Example 6 Operation Under Torque LimitExample 9 Motion Programs Example 10 Motion Programs with LoopsExample 11- Motion Programs with Trippoints Example 13 Control Variables and Offset Example 12 Control VariablesReturn to top of program Using Inputs Limit Switch InputOverview Abort Input Home Switch InputUncommitted Digital Inputs Amplifier InterfaceAnalog Inputs TTL InputsTTL Outputs This page Left Blank Intentionally Baud Rate Selection RS-232 ConfigurationRS232 Port RS232 Port 1 DatatermHandshaking Modes Ethernet ConfigurationCommunication Protocols AddressingGlobal vs. Local Operation Ethernet HandlesLocal Operation Operation of Distributed Control Accessing the I/O of the SlavesDigital Inputs Handling Communication ErrorsMulticasting Digital OutputsIOC-7007 Support Unsolicited Message HandlingFunction Code Definition Modbus SupportUser Defined Ethernet Variables Handle SwitchingHandle Restore on Communication Failure Other Communication OptionsData Record Data Record MapWaiting on Handle Responses DMC-3425 Communication Communication DMC-3425 General Status Information 1 Byte Axis Switch Information 1 ByteHeader Information Byte 0, 1 of Header Bytes 2, 3 of HeaderQZ Command Axis Status Information 2 ByteCoordinated Motion Status Information for plane 2 Byte Using Third Party Software This page Left Blank Intentionally Important All DMC-3425 commands are sent in upper case Command Syntax AsciiCoordinated Motion with more than 1 axis Command Syntax BinaryBinary Command Format ByteHeader Format LE, VE Binary command tableDatafields Format ExampleController Response to Data Interrogating the Controller Interrogation CommandsSummary of Interrogation Commands Interrogating Current Commanded ValuesCommand Summary This page Left Blank Intentionally Programming Motion Mode of Motion Basic description Commands Global VP, CR Independent Axis PositioningAbsolute Position Movement Command Summary Independent AxisOperand Summary Independent Axis ExamplesBG C InstructionInterpretationCommand Summary Jogging Independent JoggingJog in a and C axes Linear Interpolation Mode Local Mode Specifying Linear SegmentsJoystick Jogging Lmab Additional CommandsSpecifying Vector Speed for Each Segment #ALTBGS Command Summary Linear InterpolationOperand Summary Linear Interpolation Changing Feedrate#LMOVE ExampleExample Linear Move Linear Interpolation Motion#LOAD Example Multiple MovesSpecifying Vector Segments Vector Mode Linear and Circular Interpolation Local ModeAdditional commands Trippoints Command Summary Coordinated Motion SequenceCompensating for Differences in Encoder Resolution Operand Summary Coordinated Motion SequenceRequired Path VM ABExample Electronic Gearing Electronic Gearing Local ModeCommand Summary Electronic Gearing Example Gantry ModeGA,A Electronic Cam Local ModeGA, CA BGBProgramming Motion DMC-3425 DMC-3425 Programming Motion 3000 2250 1500 2000 4000 6000 Master EB1 EAA#LOOP #RUNST a #LOOPJP#LOOP,V1=0Specifying Contour Segments Contour Mode Local ModeInstruction Description CMADT0CD0 Generating an Array An Example Command Summary Contour ModeOperand Summary Contour Mode General Velocity ProfilesContour Mode Example #POINTSPOSC=V4 Record and Playback Example Teach Record and Play-BackMode of Motion Virtual Axis usage Commands Virtual Axis Local ModeSpecifying Stepper Motor Operation Stepper Motor OperationEcam Master Example Sinusoidal Motion ExampleStepper Motor Smoothing Monitoring Generated Pulses vs. Commanded PulsesOperand Summary Stepper Motor Operation Using an Encoder with Stepper MotorsCommand Summary Stepper Motor Operation Motion Complete TrippointBacklash Compensation Using the CE CommandAdditional Commands for the Auxiliary Encoder Dual Loop Auxiliary EncoderDE0 Continuous Dual LoopSampled Dual Loop #DUALOOP#END Using the IT and VT CommandsMotion Smoothing JP#CORRECTTrapezoidal velocity and smooth velocity profiles HomingMG AT Home #HOMEHM a AM aHome Switch Input Function Command Summary Homing OperationHigh Speed Position Capture Latch Operand Summary Homing OperationAL B This page Left Blank Intentionally Global vs. Local Programming Application ProgrammingED #BEGIN Edit Mode CommandsEntering Programs ReturnInvalid labels Using Labels in ProgramsProgram Format Valid labelsNo Command and the Apostrophe ‘ Special LabelsCommenting Programs Executing Programs Multitasking REM CommandDebugging Programs RAM Memory Interrogation Commands Trace CommandError Code Command Stop Code CommandEeprom Memory Interrogation Operands Breakpoints and single steppingEvent Triggers & Trippoints Program Flow CommandsDMC-3425 Event Triggers Example- Multiple Move SequenceAS a B C D E F G H Example- Set Output after Distance Example- Repetitive Position TriggerExample Start Motion on Input Example Set Output when At Speed Example Change Speed along Vector PathExample Multiple Move with Wait Format Example- Define Output Waveform Using ATCommand Format JP and JS Conditional JumpsMultiple Conditional Statements Example using variables named V1, V2, V3Logical operators Conditional StatementsUsing the if and Endif Commands If, Else, and EndifExamples Format Description Using the Else CommandCommand Format IF, Else and Endif Nesting if Conditional StatementsAuto-Start and Auto Error Routine SubroutinesStack Manipulation Example Limit Switch Example Position ErrorAutomatic Subroutines for Monitoring Conditions Example Motion Complete Timeout Example Command ErrorExample Input Interrupt Example Command Error w/Multitasking Operator Function Example Ethernet Communication ErrorMathematical and Functional Expressions Mathematical OperatorsLEN1=FLEN&$00FF Bit-Wise OperatorsENTER,LENS6 FLEN=@FRACLENPR Posa VariablesFunctions POSDisplaying the value of variables at the terminal Programmable VariablesAssigning Values to Variables Assigning Variable Values to Controller ParametersInstruction Example Using Variables for JoystickOperands Special OperandsArrays Defining ArraysAssignment of Array Entries Using a Variable to Address Array Elements Uploading and Downloading Arrays to On Board MemoryAutomatic Data Capture into Arrays Example Recording into An Array Command Summary Automatic Data CaptureData Types for Recording Operand Summary Automatic Data CaptureSpecifying the Port for Messages Outputting Numbers and StringsDeallocating Array Space Sending MessagesUsing the MG Command to Configure Terminals Formatting MessagesMG STR S3 Function Description Displaying Variables and ArraysSummary of Message Functions Example Printing a Variable and an Array elementLocal Formatting of Response of Interrogation Commands LZ0LZ1 V1=ALPHA Formatting Variables and Array ElementsLocal Formatting of Variables VF1Example- Set Bit and Clear Bit Hardware I/OConverting to User Units Digital OutputsExample- Output Port Example Using Inputs to control program flowExample Start Motion on Switch Digital InputsInput Interrupt Function Analog InputsExample Position Follower Point-to-Point Configuring the I/O of the DMC-3425 Extended I/O of the DMC-3425 ControllerExample Position Follower Continuous Move Accessing Extended I/O Saving the State of the Outputs in Non-Volatile MemoryBit I/O Block Binary Representation Decimal Value for Argument Blocks Bits Description Wire CutterExample Applications Interfacing to Grayhill or OPTO-22 G4PB24JP #A X-Y Table ControllerBGC AMCBGC AMC BGS AMS Speed Control by JoystickJG VEL JP #B Position Control by JoystickThis page Left Blank Intentionally Output Protection Lines Hardware ProtectionProgrammable Position Limits Signal or Function State if Error OccursSoftware Protection Input Protection LinesOff-On-Error Automatic Error Routine#AJP #AEN Limit Switch Example Limit Switch RoutineSymptom Cause Remedy InstallationOperation Symptom CauseCommunication StabilityTheory of Operation Level Velocity and Position Profiles Operation of Closed-Loop SystemsFunctional Elements of a Motion Control System System ModelingMotor-Amplifier Voltage DriveCurrent Drive Elements of velocity loops Velocity LoopVoltage Source Digital Filter DACZOH System AnalysisMotor Ms = P/I = Kt/Js2 = 500/s2 rad/A Amp Ka = 4 Amp/V Analytical Method System Design and CompensationKd = 10/32768 = Encoder Kf = 4N/2π = DMC-3425 Theory of Operation Equivalent Filter Form KP, KD, KI, PLPID, T Servo Control Electrical SpecificationsPerformance Specifications Power RequirementsAcmdy Signa Connectors for DMC-3425J3 DMC-3425 General I/O 37- PIN D-type Acmda PwmaSigna J3 DMC-3425-Stepper General I/O 37- PIN D-typePwmb Signb PwmaRTS CTS GND Pin-Out DescriptionJ1 RS232 Main port DB-9 Pin Male DCD DTR GND DSR RTS CTSFeatures SpecificationsICM-1460 Interconnect Module ACMDX/PULSEX ResetERROR/PULSEY AMPEN/SIGNY5Opto-isolated inputs Opto-Isolation Option for ICM-1460Figure A-1 Opto-isolated outputsCO n Configuring the I/O of the DMC-3425 with DB-14064Saving the State of the Outputs in Non-Volatile Memory Accessing extended I/OJ6 50-PIN IDC Pin Signal Block Bit @INn Bit No @OUTn Connector DescriptionBlock Bit @INn Bit No @OUTn Description IOM-1964 Opto-Isolation Module for Extended I/O ControllersBuffer chips OverviewFigure A-4 Configuring Hardware BanksInput Circuit Figure A-6 High Power Digital OutputsStandard Digital Outputs Output Command ResultElectrical Specifications High Power Digital OutputsStandard Digital Outputs Screw Terminal Listing Relevant DMC CommandsDMC-3425 Appendices PWROUT29 PWROUT32PWROUT31 PWROUT301000 2000 Coordinated Motion Mathematical AnalysisVelocity 100000 = 0.05 s 2000000 List of Other Publications Training SeminarsWHO should Attend Galil Motion Control Contacting UsWarranty Eeprom IndexHoming, 38 Eeprom Index DMC-3425

DMC-3425 specifications

The Galil DMC-3425 is a sophisticated motion controller known for its versatility and high performance in various industrial applications. Designed primarily for multi-axis control, it is well-suited for robotics, CNC machinery, and automated manufacturing systems.

One of the standout features of the DMC-3425 is its ability to control up to 32 axes simultaneously, providing unparalleled flexibility for complex motion tasks. This capability is enhanced by its advanced motion algorithms that ensure smooth and precise movements, essential for high-quality manufacturing and assembly processes. The controller supports a variety of motor types, including servo, stepper, and brushless motors, making it compatible with a wide range of existing equipment.

In terms of connectivity, the DMC-3425 offers an extensive selection of communication options. It supports Ethernet, RS-232, and RS-485 interfaces, allowing for seamless integration with various industrial networks, including EtherCAT and CANopen. This connectivity is vital for real-time data exchange and remote monitoring, enhancing overall system efficiency.

The controller is powered by Galil's innovative software architecture, which includes the DMC programming language. This user-friendly language enables engineers to create complex motion profiles easily, with support for trajectory generation, coordinate transformations, and PID control. The DMC-3425 also features built-in commands for motion profiling, including linear and circular interpolation, allowing for sophisticated path planning.

Moreover, the DMC-3425 comes equipped with an integrated programming environment that facilitates rapid application development. Users can simulate motion profiles before implementation, reducing downtime and minimizing errors. This environment is designed for quick learning, making it accessible even for those new to motion control.

Additionally, the Galil DMC-3425 features a robust safety architecture. It includes over-temperature detection, emergency stop inputs, and configurable limits for position and speed, ensuring safe operation in various environments.

Overall, the Galil DMC-3425 is a powerful and flexible motion controller that combines advanced technologies with user-friendly design. Its ability to handle multiple axes, extensive connectivity options, and comprehensive programming environment make it a top choice for manufacturers seeking to enhance automation and improve productivity in their operations.
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